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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
45abdefc86
Both ABI and telemetry messages are not thread-safe and should be protected by mutex. Simulation of sonar is handled by NPS.
33 lines
1.2 KiB
XML
33 lines
1.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="sonar_bebop" dir="sonar" task="sensors">
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<doc>
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<description>
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Bebop Sonar driver.
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Reads an anlog sonar sensor and outputs sonar distance in [m]
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</description>
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<define name="USE_SONAR" value="" description="activate use of sonar in INS extended filter (only rotorcraft)"/>
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<define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES" value="" description="Do not return obstacles that are shorter than a given value"/>
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<define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES_JUMP" value="0.4" description="Sudden changes in sonar height larger than this value are neglected [unit: meters]"/>
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<define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES_TIME" value="1.0" description="Sudden changes in sonar height shorter than this value are neglected [unit: seconds]"/>
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</doc>
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<dep>
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<depends>spi_master,adc</depends>
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<provides>sonar</provides>
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</dep>
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<header>
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<file name="sonar_bebop.h"/>
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</header>
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<init fun="sonar_bebop_init()"/>
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<event fun="sonar_bebop_event()"/>
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<makefile target="ap">
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<file name="sonar_bebop.c"/>
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<define name="USE_SPI0" value="1"/>
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<define name="USE_ADC0" value="1"/>
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</makefile>
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</module>
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